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   1 /*
   2  * Copyright © 2011 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 package org.altusmetrum.altoslib_7;
  19
  20 import java.io.*;
  21 import java.util.concurrent.*;
  22 import java.util.*;
  23
  24 public abstract class AltosLink implements Runnable {
  25
  26         public final static int ERROR = -1;
  27         public final static int TIMEOUT = -2;
  28
  29         public abstract int getchar() throws InterruptedException;
  30         public abstract void print(String data) throws InterruptedException;
  31         public abstract void putchar(byte c);
  32         public abstract void close() throws InterruptedException;
  33
  34         public static boolean debug = false;
  35         public static void set_debug(boolean in_debug) { debug = in_debug; }
  36
  37         public boolean has_error;
  38
  39         LinkedList<String> pending_output = new LinkedList<String>();
  40
  41         public LinkedList<LinkedBlockingQueue<AltosLine>> monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();;
  42         public LinkedBlockingQueue<AltosLine> reply_queue = new LinkedBlockingQueue<AltosLine>();
  43         public LinkedBlockingQueue<byte[]> binary_queue = new LinkedBlockingQueue<byte[]>();
  44
  45         public synchronized void add_monitor(LinkedBlockingQueue<AltosLine> q) {
  46                 set_monitor(true);
  47                 monitors.add(q);
  48         }
  49
  50         public synchronized void remove_monitor(LinkedBlockingQueue<AltosLine> q) {
  51                 monitors.remove(q);
  52                 if (monitors.isEmpty())
  53                         set_monitor(false);
  54         }
  55
  56         public void printf(String format, Object ... arguments) {
  57                 String  line = String.format(format, arguments);
  58                 if (debug) {
  59                         synchronized (pending_output) {
  60                                 pending_output.add(line);
  61                         }
  62                 }
  63                 try {
  64                         print(line);
  65                 } catch (InterruptedException ie) {
  66
  67                 }
  68         }
  69
  70         public String get_reply_no_dialog(int timeout) throws InterruptedException, TimeoutException {
  71                 flush_output();
  72                 AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
  73                 if (line != null)
  74                         return line.line;
  75                 return null;
  76         }
  77
  78         public String get_reply() throws InterruptedException {
  79                 return get_reply(5000);
  80         }
  81
  82
  83         public abstract boolean can_cancel_reply();
  84         public abstract boolean show_reply_timeout();
  85         public abstract void hide_reply_timeout();
  86
  87         public boolean  reply_abort;
  88         public int      in_reply;
  89
  90         boolean         reply_timeout_shown = false;
  91
  92         private boolean check_reply_timeout() {
  93                 if (!reply_timeout_shown)
  94                         reply_timeout_shown = show_reply_timeout();
  95                 return reply_abort;
  96         }
  97
  98         private void cleanup_reply_timeout() {
  99                 if (reply_timeout_shown) {
 100                         reply_timeout_shown = false;
 101                         hide_reply_timeout();
 102                 }
 103         }
 104
 105         private int     len_read = 0;
 106
 107         public void run () {
 108                 int c;
 109                 byte[] line_bytes = null;
 110                 int line_count = 0;
 111
 112                 try {
 113                         for (;;) {
 114                                 c = getchar();
 115                                 if (Thread.interrupted()) {
 116                                         break;
 117                                 }
 118                                 if (c == ERROR) {
 119                                         if (debug)
 120                                                 System.out.printf("ERROR\n");
 121                                         has_error = true;
 122                                         add_telem (new AltosLine());
 123                                         add_reply (new AltosLine());
 124                                         break;
 125                                 }
 126                                 if (c == TIMEOUT) {
 127                                         if (debug)
 128                                                 System.out.printf("TIMEOUT\n");
 129                                         continue;
 130                                 }
 131                                 if (c == '\r' && len_read == 0)
 132                                         continue;
 133                                 synchronized(this) {
 134                                         if (c == '\n' && len_read == 0) {
 135                                                 if (line_count != 0) {
 136                                                         add_bytes(line_bytes, line_count);
 137                                                         line_count = 0;
 138                                                 }
 139                                         } else {
 140                                                 if (line_bytes == null) {
 141                                                         line_bytes = new byte[256];
 142                                                 } else if (line_count == line_bytes.length) {
 143                                                         byte[] new_line_bytes = new byte[line_count * 2];
 144                                                         System.arraycopy(line_bytes, 0, new_line_bytes, 0, line_count);
 145                                                         line_bytes = new_line_bytes;
 146                                                 }
 147                                                 line_bytes[line_count] = (byte) c;
 148                                                 line_count++;
 149                                                 if (len_read !=0 && line_count == len_read) {
 150                                                         add_binary(line_bytes, line_count);
 151                                                         line_count = 0;
 152                                                         len_read = 0;
 153                                                 }
 154                                         }
 155                                 }
 156                         }
 157                 } catch (InterruptedException e) {
 158                 }
 159         }
 160
 161
 162         public String get_reply(int timeout) throws InterruptedException {
 163                 boolean can_cancel = can_cancel_reply();
 164                 String  reply = null;
 165
 166                 if (!can_cancel && remote)
 167                         System.out.printf("Uh-oh, reading remote serial device from swing thread\n");
 168
 169                 if (remote && can_cancel) {
 170                         timeout = 500;
 171                         switch (telemetry_rate) {
 172                         case AltosLib.ao_telemetry_rate_38400:
 173                         default:
 174                                 timeout = 500;
 175                                 break;
 176                         case AltosLib.ao_telemetry_rate_9600:
 177                                 timeout = 2000;
 178                                 break;
 179                         case AltosLib.ao_telemetry_rate_2400:
 180                                 timeout = 8000;
 181                                 break;
 182                         }
 183                 }
 184                 try {
 185                         ++in_reply;
 186
 187                         flush_output();
 188
 189                         reply_abort = false;
 190                         reply_timeout_shown = false;
 191                         for (;;) {
 192                                 AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
 193                                 if (line != null) {
 194                                         cleanup_reply_timeout();
 195                                         reply = line.line;
 196                                         break;
 197                                 }
 198                                 if (!remote || !can_cancel || check_reply_timeout()) {
 199                                         reply = null;
 200                                         break;
 201                                 }
 202                         }
 203                 } finally {
 204                         --in_reply;
 205                 }
 206                 return reply;
 207         }
 208
 209         public byte[] get_binary_reply(int timeout, int len) throws InterruptedException {
 210                 boolean can_cancel = can_cancel_reply();
 211                 byte[] bytes = null;
 212
 213                 synchronized(this) {
 214                         len_read = len;
 215                 }
 216                 try {
 217                         ++in_reply;
 218
 219                         flush_output();
 220
 221                         reply_abort = false;
 222                         reply_timeout_shown = false;
 223                         for (;;) {
 224                                 bytes = binary_queue.poll(timeout, TimeUnit.MILLISECONDS);
 225                                 if (bytes != null) {
 226                                         cleanup_reply_timeout();
 227                                         break;
 228                                 }
 229                                 if (!remote || !can_cancel || check_reply_timeout()) {
 230                                         bytes = null;
 231                                         break;
 232                                 }
 233                         }
 234
 235                 } finally {
 236                         --in_reply;
 237                 }
 238                 return bytes;
 239         }
 240
 241         public void add_telem(AltosLine line) throws InterruptedException {
 242                 for (int e = 0; e < monitors.size(); e++) {
 243                         LinkedBlockingQueue<AltosLine> q = monitors.get(e);
 244                         q.put(line);
 245                 }
 246         }
 247
 248         public void add_reply(AltosLine line) throws InterruptedException {
 249                 reply_queue.put (line);
 250         }
 251
 252         public void abort_reply() {
 253                 try {
 254                         add_telem (new AltosLine());
 255                         add_reply (new AltosLine());
 256                 } catch (InterruptedException ie) {
 257                 }
 258         }
 259
 260         public void add_string(String line) throws InterruptedException {
 261                 if (line.startsWith("TELEM") || line.startsWith("VERSION") || line.startsWith("CRC")) {
 262                         add_telem(new AltosLine(line));
 263                 } else {
 264                         add_reply(new AltosLine(line));
 265                 }
 266         }
 267
 268         public void add_bytes(byte[] bytes, int len) throws InterruptedException {
 269                 String  line;
 270                 line = new String(bytes, 0, len, AltosLib.unicode_set);
 271                 if (debug)
 272                         System.out.printf("\t\t\t\t\t%s\n", line);
 273                 add_string(line);
 274         }
 275
 276         public void add_binary(byte[] bytes, int len) throws InterruptedException {
 277                 byte[] dup = new byte[len];
 278
 279                 if (debug)
 280                         System.out.printf ("\t\t\t\t\t%d:", len);
 281                 for(int i = 0; i < len; i++) {
 282                         dup[i] = bytes[i];
 283                         if (debug)
 284                                 System.out.printf(" %02x", dup[i]);
 285                 }
 286                 if (debug)
 287                         System.out.printf("\n");
 288
 289                 binary_queue.put(dup);
 290         }
 291
 292         public synchronized void flush_output() {
 293                 if (pending_output == null)
 294                         return;
 295                 synchronized (pending_output) {
 296                         for (String s : pending_output)
 297                                 System.out.print(s);
 298                         pending_output.clear();
 299                 }
 300         }
 301
 302         public void flush_input(int timeout) throws InterruptedException {
 303                 flush_output();
 304                 boolean got_some;
 305
 306                 do {
 307                         Thread.sleep(timeout);
 308                         got_some = !reply_queue.isEmpty();
 309                         reply_queue.clear();
 310                 } while (got_some);
 311         }
 312
 313
 314         public void flush_input() throws InterruptedException {
 315                 if (remote)
 316                         flush_input(500);
 317                 else
 318                         flush_input(100);
 319         }
 320
 321
 322         /*
 323          * Various command-level operations on
 324          * the link
 325          */
 326         public boolean monitor_mode = false;
 327         public int telemetry = AltosLib.ao_telemetry_standard;
 328         public int telemetry_rate = -1;
 329         public double frequency;
 330         public String callsign;
 331         AltosConfigData config_data;
 332
 333         private Object config_data_lock = new Object();
 334
 335         private int telemetry_len() {
 336                 return AltosLib.telemetry_len(telemetry);
 337         }
 338
 339         private void set_radio_freq(int frequency) {
 340                 if (monitor_mode)
 341                         printf("m 0\nc F %d\nm %x\n",
 342                                frequency, telemetry_len());
 343                 else
 344                         printf("c F %d\n", frequency);
 345                 flush_output();
 346         }
 347
 348         public void set_radio_frequency(double frequency,
 349                                         boolean has_frequency,
 350                                         boolean has_setting,
 351                                         int cal) {
 352                 if (debug)
 353                         System.out.printf("set_radio_frequency %7.3f (freq %b) (set %b) %d\n", frequency, has_frequency, has_setting, cal);
 354                 if (frequency == 0)
 355                         return;
 356                 if (has_frequency)
 357                         set_radio_freq((int) Math.floor (frequency * 1000 + 0.5));
 358                 else if (has_setting)
 359                         set_radio_setting(AltosConvert.radio_frequency_to_setting(frequency, cal));
 360                 else
 361                         set_channel(AltosConvert.radio_frequency_to_channel(frequency));
 362         }
 363
 364         public void set_radio_frequency(double in_frequency) throws InterruptedException, TimeoutException {
 365                 frequency = in_frequency;
 366                 config_data();
 367                 set_radio_frequency(frequency,
 368                                     config_data.radio_frequency > 0,
 369                                     config_data.radio_setting > 0,
 370                                     config_data.radio_calibration);
 371         }
 372
 373         public void set_telemetry(int in_telemetry) {
 374                 telemetry = in_telemetry;
 375                 if (monitor_mode)
 376                         printf("m 0\nm %x\n", telemetry_len());
 377                 flush_output();
 378         }
 379
 380         public void set_telemetry_rate(int in_telemetry_rate) {
 381                 telemetry_rate = in_telemetry_rate;
 382                 if (monitor_mode)
 383                         printf("m 0\nc T %d\nm %x\n", telemetry_rate, telemetry_len());
 384                 else
 385                         printf("c T %d\n", telemetry_rate);
 386                 flush_output();
 387         }
 388
 389         public synchronized void set_monitor(boolean monitor) {
 390                 monitor_mode = monitor;
 391                 if (monitor)
 392                         printf("m %x\n", telemetry_len());
 393                 else
 394                         printf("m 0\n");
 395                 flush_output();
 396         }
 397
 398         public synchronized boolean get_monitor() {
 399                 return monitor_mode;
 400         }
 401
 402         private void set_channel(int channel) {
 403                 if (monitor_mode)
 404                         printf("m 0\nc r %d\nm %x\n",
 405                                channel, telemetry_len());
 406                 else
 407                         printf("c r %d\n", channel);
 408                 flush_output();
 409         }
 410
 411         private void set_radio_setting(int setting) {
 412                 if (monitor_mode)
 413                         printf("m 0\nc R %d\nm %x\n",
 414                                setting, telemetry_len());
 415                 else
 416                         printf("c R %d\n", setting);
 417                 flush_output();
 418         }
 419
 420         public AltosConfigData config_data() throws InterruptedException, TimeoutException {
 421                 synchronized(config_data_lock) {
 422                         if (config_data == null) {
 423                                 printf("m 0\n");
 424                                 config_data = new AltosConfigData(this);
 425                                 if (monitor_mode)
 426                                         set_monitor(true);
 427                         }
 428                         return config_data;
 429                 }
 430         }
 431
 432         public void set_callsign(String callsign) {
 433                 this.callsign = callsign;
 434                 if (callsign != null) {
 435                         printf ("c c %s\n", callsign);
 436                         flush_output();
 437                 }
 438         }
 439
 440         public boolean is_loader() throws InterruptedException {
 441                 boolean ret = false;
 442                 printf("v\n");
 443                 for (;;) {
 444                         String line = get_reply();
 445
 446                         if (line == null)
 447                                 return false;
 448                         if (line.startsWith("software-version"))
 449                                 break;
 450                         if (line.startsWith("altos-loader"))
 451                                 ret = true;
 452                 }
 453                 return ret;
 454         }
 455
 456         public void to_loader() throws InterruptedException {
 457                 printf("X\n");
 458                 flush_output();
 459                 close();
 460                 Thread.sleep(1000);
 461         }
 462
 463         public boolean remote;
 464         public int serial;
 465         public String name;
 466
 467         public void start_remote() throws TimeoutException, InterruptedException {
 468                 if (frequency == 0.0)
 469                         frequency = AltosPreferences.frequency(serial);
 470                 if (debug)
 471                         System.out.printf("start remote %7.3f\n", frequency);
 472                 set_radio_frequency(frequency);
 473                 if (telemetry_rate < 0)
 474                         telemetry_rate = AltosPreferences.telemetry_rate(serial);
 475                 set_telemetry_rate(telemetry_rate);
 476                 if (callsign == null || callsign.equals(""))
 477                         callsign = AltosPreferences.callsign();
 478                 set_callsign(callsign);
 479                 printf("p\nE 0\n");
 480                 flush_input();
 481                 remote = true;
 482         }
 483
 484         public void stop_remote() throws InterruptedException {
 485                 if (debug)
 486                         System.out.printf("stop remote\n");
 487                 try {
 488                         flush_input();
 489                 } finally {
 490                         printf ("~\n");
 491                         flush_output();
 492                 }
 493                 remote = false;
 494         }
 495
 496         public int rssi() throws TimeoutException, InterruptedException {
 497                 if (remote)
 498                         return 0;
 499                 printf("s\n");
 500                 String line = get_reply_no_dialog(5000);
 501                 if (line == null)
 502                         throw new TimeoutException();
 503                 String[] items = line.split("\\s+");
 504                 if (items.length < 2)
 505                         return 0;
 506                 if (!items[0].equals("RSSI:"))
 507                         return 0;
 508                 int rssi = Integer.parseInt(items[1]);
 509                 return rssi;
 510         }
 511
 512         public String[] adc() throws TimeoutException, InterruptedException {
 513                 printf("a\n");
 514                 for (;;) {
 515                         String line = get_reply_no_dialog(5000);
 516                         if (line == null) {
 517                                 throw new TimeoutException();
 518                         }
 519                         if (!line.startsWith("tick:"))
 520                                 continue;
 521                         String[] items = line.split("\\s+");
 522                         return items;
 523                 }
 524         }
 525
 526         public boolean has_monitor_battery() {
 527                 return config_data.has_monitor_battery();
 528         }
 529
 530         public double monitor_battery() throws InterruptedException {
 531                 int monitor_batt = AltosLib.MISSING;
 532
 533                 if (config_data.has_monitor_battery()) {
 534                         try {
 535                         String[] items = adc();
 536                         for (int i = 0; i < items.length;) {
 537                                 if (items[i].equals("batt")) {
 538                                         monitor_batt = Integer.parseInt(items[i+1]);
 539                                         i += 2;
 540                                         continue;
 541                                 }
 542                                 i++;
 543                         }
 544                         } catch (TimeoutException te) {
 545                         }
 546                 }
 547                 if (monitor_batt == AltosLib.MISSING)
 548                         return AltosLib.MISSING;
 549                 return AltosConvert.cc_battery_to_voltage(monitor_batt);
 550         }
 551
 552         public AltosLink() {
 553                 callsign = "";
 554                 has_error = false;
 555         }
 556 }